EP3398729A1 - Facility, device and method for operating autonomous transport vehicles which can be loaded with small goods holders - Google Patents
Facility, device and method for operating autonomous transport vehicles which can be loaded with small goods holders Download PDFInfo
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- EP3398729A1 EP3398729A1 EP18169685.7A EP18169685A EP3398729A1 EP 3398729 A1 EP3398729 A1 EP 3398729A1 EP 18169685 A EP18169685 A EP 18169685A EP 3398729 A1 EP3398729 A1 EP 3398729A1
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- manipulator
- transport vehicle
- manipulator device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Definitions
- the invention relates to a device, a device and a method for operating automatically or autonomously acting with transported goods, e.g. with so-called small load carriers, loadable transport vehicles, and for operating vehicle fleets or tugger trains formed from such transport vehicles, according to the preambles of the respective independent claims.
- the present invention also relates to a computer program, a machine-readable data carrier for storing the computer program and an electronic control unit, by means of which the method according to the invention can be carried out.
- transport vehicles with small load carriers or small load carriers are often used to transport components or goods to various production stations or warehouse sites.
- the individual small load carriers can be up to 25 kilograms heavy.
- so-called “tugger trains” are also used to transport the small load carriers. In particular, the loading of such tugger trains takes place manually, which is correspondingly labor-intensive.
- a method and a robot module for handling small load carriers wherein the robot module is fixed to a Auslagerungstisch a parts store and wherein on the Auslagerungstisch more of the small load carriers are arranged.
- the robot module is first brought by means of a lifting arrangement in a first position or position, in which the lifting arrangement is set to the same height as the height of Auslagersticians.
- a gripper provided on the robot, a small load carrier is gripped and pulled down by the Auslagerungstisch.
- the lifting arrangement is then brought into a second position, in which the lifting arrangement is set to the same height as one of the receiving surfaces of a preferably multiple tugger trailer having tugger train.
- Said small load carrier is moved by means of the gripper on one of the receiving surfaces of a tugger train.
- the invention relates in particular to what are known as “automatic guided vehicles” (AGV), with goods to be transported, e.g. with small load carriers or small load carriers (KLTs), boxes, pallets, washing frames, sheets or similar transport containers loadable or equippable transport vehicles.
- AGV automatic guided vehicles
- KLTs small load carriers or small load carriers
- Such battery-powered and thus autonomously acting transport vehicles are preferably put together to form routes.
- these transport vehicles or the corresponding tugger trains are either manually operated by operating personnel, ie the loading and unloading of KLTs and the method of transport vehicles (AGVs) are usually carried out purely manually and not automatically.
- AGVs transport vehicles
- these transport vehicles or corresponding tugger trains are equipped with a fixedly mounted on a transport vehicle manipulator, by means of which the KLTs can be handled automatically.
- an AGV modified according to the invention provided as a tugger train or tugger train wagon, is in particular designed so that it can be automatically connected to a mobile manipulator or handling platform and thereby automatically charged by the AGV.
- a manipulator platform referred to below as a manipulator device
- a transport item can be subjected to manipulation.
- a corresponding, e.g. equipped with grippers manipulator device can thus be automatically replaced by the respective AGV, depending on a specifiable manipulation needs or depending on currently handled or to be processed KLTs and used flexibly as a robotic manipulator.
- This flexible interchangeability of a manipulator device has the advantage that over the prior art, in which the very costly and relatively heavy manipulators are fixedly mounted on an AGV, need not be transported during the entire operating time of an AGV useless, which in particular considerable battery energy or Battery power is wasted.
- the replacement of a manipulator device may be effected by means of a mechanical pick-up device, e.g. by means of a transport receiver or a transport support.
- a mechanical pick-up device e.g. by means of a transport receiver or a transport support.
- the manipulator device can temporarily (so to speak "piggyback") charged to the AGV and be taken by this to a current or subsequent workplace.
- the replacement of a manipulator device can also be done by means of a dynamic coupling (or "docking").
- a dynamic coupling or "docking"
- the AGV can be quickly and safely connected to and disconnected from a respective mobile manipulator device in order to be able to spend the manipulator device through the AGV to the current workstation.
- the fast coupling or uncoupling can be realized by means of a magnetic coupling known per se, ektromechanischen coupling or the like, which equipped with a multi-sensor equipment 3D position detection cooperates.
- the 3D position detection makes it possible to reliably detect the (spatial) 3D position of an approaching AGV and to precisely control the movement of the AGV in the dynamic coupling.
- the respective manipulator of a manipulator device can be arranged on top of one another on the KLT stack Lead KLT.
- a named dynamic coupling between an AGV and a manipulator device can be precisely controlled.
- this KLT can be reliably picked up by the manipulator without the need for prior calibration, which would also require very precise manipulator positions.
- the proposed device can be realized very cost-effectively by means of linear and rotational axis systems, which in particular do not require a position encoder and / or a cable-based robotics.
- Spatial position or position data are preferably acquired by means of said camera, wherein the movement or movement control of the manipulator is preferably based on the six degrees of freedom of rotation and translation. This allows very realistic movements of the manipulator.
- Such a multi-axis movement can be realized by means of industrial robotics known per se, six-axis hydraulic drives or manipulators.
- the cited markings can be designed as three optically effective markings, which are preferably formed from a material that is capable of reflection for light rays.
- Such labels can be e.g. in a manipulator designed as a gripper, i. in a fork-shaped, equipped with forks gripper, implement advantageous.
- the control of an AGV in the rapid loading and unloading of KLTs and / or the rapid coupling and uncoupling of mobile manipulator devices can be done with existing 3D position detection means of a known, collaborative "cloud computing" approach, which preferably on the AGVs arranged, visible marks based. This allows the very compute-intensive calculations be outsourced in the 3D position detection, whereby the requirements for the battery performance of the AGVs, the size and weight of an AGV and a manipulator device can be significantly reduced.
- necessary updates (“updates") of a correspondingly established control program can advantageously be made via the cloud.
- the data link between an AGV and a cloud is e.g. in a conventional manner by means of a WLAN connection.
- the position of an approaching AGV is precisely detected by means of the 3D position detection and the said optical markings, and the spatial movement of the AGV with respect to a current workstation or with respect to KLTs currently to be processed is controlled accordingly.
- the coupling and uncoupling of an AGV to a mobile manipulator device having at least two manipulators can be controlled automatically.
- a significant cost saving in the logistics sector in particular by the elimination of non-value-added activities in the tugger train loading, can be achieved.
- a significant ergonomic advantage can be achieved, as a manual handling ("handling") of small load carriers (KLTs) is eliminated.
- KLTs small load carriers
- considerable labor time can be saved by operating personnel and also significantly reduced for storage required buffer or reserve storage space.
- the control of a vehicle fleet affected here for example by means of simulation technology is optimized so that for a given application scenario, the optimal number of AGVs and / or mobile manipulator devices is calculated in advance.
- a plurality of manipulator devices can be positioned at different locations such that an AGV must be coupled with a manipulator device as little as possible in order to perform manipulator work at predeterminable workstations and to carry a manipulator device only as seldom as possible, especially in the case of long-range movements of the AGV have to.
- the motion paths of the AGVs or the corresponding SLAM navigation data required for the motion control can then be downloaded by means of WLAN into the respective AGV or the manipulator device. Furthermore, it can be provided that these SLAM data, for a specific AGV and based on KLTs detected by the 3D position detection, are updated dynamically during operation. It can also be provided that the SLAM data of an AGVs are compared with corresponding SLAM data of other AGVs and / or merged. Such a collaborative approach can significantly improve the reliability or precision of an entire vehicle fleet.
- the proposed method and apparatus can be used in particular in production facilities, e.g. in the automotive production in the time-critical supply of components to assembly lines or in the storage during transport and handling of said KLTs, e.g. Transport containers, pallets, galvanized transport plates ("tinplates") or used in department stores or supermarkets stacker roller vehicles, are used. Also, an application in the so-called “just-in-time” -F spabandbe Publishedung in logistics centers, freight yards, airports, or the like is possible.
- the likewise proposed computer program is set up to carry out each step of the method, in particular if it runs on a computing device or a control device. It allows the implementation of the method according to the invention on an electronic control unit, without having to make structural changes to this.
- the machine-readable data carrier is provided on which the computer program according to the invention is stored.
- the electronic control unit according to the invention is obtained, which is set up to have a AGV designed, preferably with small load carriers (KLTs) Control transport vehicle or a tugger train formed from at least two AGVs by means of the method according to the invention.
- KLTs small load carriers
- FIG. 1 schematically illustrated device comprises a trained as a shuttle vehicle and part of a tug 115 forming AGV 100 ("Automatic guided vehicle"), which can drive in the present embodiment by means of a transport receiver or a transport support 105 under a mobile manipulator device 110.
- the manipulator device 110 is mounted on fixed supports 125 in this embodiment.
- the AGV 100 can transport the manipulator device 110 in "piggyback" transport to a location not shown, in the present case to an assembly line of an assembly plant for the production of motor vehicles.
- the mobile manipulator device 110 comprises an exchangeable, 6-axis manipulator 120, for example with one shown, in this case equipped with three gripper fingers mechanical gripper 122 which allows precise movements of the manipulator 120 simultaneously in the three axes of rotation and the three translational axes.
- transport support 105 arranged on the AGV 100 corresponds to an exemplary embodiment of an in Fig. 2 shown coupling device 200 for releasably connecting the AGV 100 with the manipulator device 110 corresponds.
- mobile manipulator device 205 includes a platform 210, which may be formed either as in the present case with movable rollers 215 or (not shown) fixedly arranged feet.
- the coupling device 200 is designed as a magnetic coupling, for example with an electromagnet 202 arranged on the side of the manipulator device and with a coupling element (not shown here) arranged on the side of the AGV and made of a ferromagnetic material.
- the coupling device 200 can also be realized with alternative coupling methods, for example with controllable mechanical or electromechanical couplings known per se. As a result, an automatable operation of the coupling device is made technically simple and inexpensive.
- the platform 210 can be moved by an AGV (not shown here) by pulling force by means of the coupling device 200 or by pushing force or carried along by the AGV in this way.
- the platform would have a transport receptacle or the like, by means of which the platform 210, for example by means of a in Fig. 1 shown transport support 105 of the (in Fig. 2 not shown) AGV can be charged piggyback, so to speak.
- the manipulator device 205 shown comprises a manipulator kinematic mechanism 220 arranged on the platform 210 with a manipulator 225 held linearly or similarly to a robot arm of an industrial robot, in the present exemplary embodiment a three-part gripper.
- the gripper 225 is automatically interchangeable and to a respective to be handled, in this case as a small load carrier or small load carrier (KLT) trained (in Fig. 1 shown) transport container 230 configured with respect to the handling customizable.
- KLT small load carrier or small load carrier
- the gripper 225 shown can by a At least two different gripper types 235 in stocking station 240 are gripped and attached to the manipulator kinematic 220.
- the respectively stored grippers 235 may be fork-shaped grippers, grippers specially adapted to the shape of a KLT, vacuum grippers or magnetic grippers.
- the manipulator device 205 further comprises a lifting device or arrangement 245 in order to be able to adapt or lift the manipulator 225 to the respective height of the transport container 230, as indicated by the double arrow.
- a lifting device or arrangement 245 in order to be able to adapt or lift the manipulator 225 to the respective height of the transport container 230, as indicated by the double arrow.
- telescopically extendable feet 250 are also provided on the underside of the platform 210, by means of which the platform 210 can be stabilized during operation with regard to its stability.
- the manipulator device 205 is a 3D camera system 255, eg with a known RGB-D camera 260 for providing a color and depth information having image (eg, the jointly developed by Microsoft and PrimeSense "KINECT" camera system ).
- the exact position of the camera 255 can be specified as dependent on the respective handling situation by means of the two axes of rotation 262, 263 shown.
- the camera 255 allows the precise spatial capture of manageable, in Fig. 1 shown transport containers 230, eg of said KLTs or stored in such KLTs small parts.
- the manipulator device 205 can measure precisely by means of the camera 260 relative to the AGV 100 or the corresponding route 115.
- each tugger here using the example of in Fig. 1 shown trailer, 265, at least three optical reference marks 270, for example, three reflective in the optical spectrum points, stripes or the like, attached.
- the processing of the visual data recorded by means of the 3D camera system 255 takes place in the exemplary embodiment by outsourcing this data to an external "cloud” and in a manner known per se by appropriate "cloud computing".
- the manipulator device shown comprises a conventional WLAN communication device 275 for the wireless exchange of said data.
- Fig. 3 is an embodiment of the method according to the invention, in particular corresponding operating steps for the automated coupling of a manipulator device according to Fig. 1 or 2 with an AGV according to Fig. 1 , illustrated by a flow chart.
- the automated coupling enables automatic control of an entire AGV fleet in interaction with a manipulator fleet affected here.
- the method enables automatic control of an AGV for fast loading and unloading of KLTs and / or for quick coupling and uncoupling of mobile manipulator devices.
- the routine shown initially performs a continuous recognition 300 of a request for a named coupling.
- the said 3D camera system 255 is activated, which generates visual data 310 on the basis of said optical markings 270.
- these visual data for example by means of a named WLAN connection 275, are forwarded to an external computer or external computing means transmitted.
- these external calculation means are a named cloud in which the evaluation of the visual data is carried out by means of a known, collaborative "cloud computing" approach.
- the results of the evaluation i. corresponding position data
- the program jumps back to the beginning of the routine 330.
- Fig. 3 The basis of Fig. 3 The method described enables automated control of a device or a corresponding route train involved here, wherein the position of an AGV approaching a parked manipulator device is detected precisely by means of the 3D position recognition 310-320 and the said optical markings 270.
- a respective AGV can drag a mobile manipulator device equipped with passive rollers and telescopic feet behind it and simultaneously transport one or more KLTs.
- an AGV charges a mobile manipulator device in the manner described (piggybacked) and simultaneously with one or more KLTs transported.
- a mobile manipulator device, rather than on said rollers, is moved by rail.
- AGVs which are supplied with cables and have electric cables.
- the method described can be implemented in the form of a control program for an electronic control unit for controlling an internal combustion engine or in the form of one or more corresponding electronic control units (ECUs).
- ECUs electronice control units
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Abstract
Die vorliegende Erfindung betrifft eine Einrichtung, eine Vorrichtung und ein Verfahren zum Betreiben wenigstens eines autonom agierenden, mit Transportgut, insbesondere mit Kleinladungsträgern (230) beladbaren Transportfahrzeuges (100), wobei eine Manipulatorvorrichtung (205) mit einer wenigstens einen Manipulator (225) aufweisenden Manipulatorkinematik (220) vorgesehen ist, und wobei ferner vorgesehen ist, dass das wenigstens eine Transportfahrzeug (100) eine Kopplungsvorrichtung (200) aufweist, mittels welcher das Transportfahrzeug (100) mit einer den wenigstens einen Manipulator (225) aufweisenden, mobil ausgebildeten Manipulatorvorrichtung (205) lösbar verbindbar ist. The present invention relates to a device, a device and a method for operating at least one autonomously acting transport vehicle (100) which can be loaded with cargo, in particular with small load carriers (230), wherein a manipulator device (205) comprises a manipulator kinematics having at least one manipulator (225) (220) is provided, and further provided that the at least one transport vehicle (100) comprises a coupling device (200), by means of which the transport vehicle (100) with a at least one manipulator (225) having, mobile trained manipulator device (205 ) is releasably connectable.
Description
Die Erfindung betrifft eine Einrichtung, eine Vorrichtung und ein Verfahren zum Betreiben von automatisiert bzw. autonom agierenden, mit Transportgut, z.B. mit sogenannten Kleinladungsträgern, beladbaren Transportfahrzeugen, sowie zum Betreiben von aus solchen Transportfahrzeugen gebildeten Fahrzeugflotten bzw. Routenzügen, gemäß den Oberbegriffen der jeweiligen unabhängigen Ansprüche. Gegenstand der vorliegenden Erfindung sind auch ein Computerprogramm, ein maschinenlesbarer Datenträger zur Speicherung des Computerprogramms und ein elektronisches Steuergerät, mittels derer das erfindungsgemäße Verfahren durchführbar ist.The invention relates to a device, a device and a method for operating automatically or autonomously acting with transported goods, e.g. with so-called small load carriers, loadable transport vehicles, and for operating vehicle fleets or tugger trains formed from such transport vehicles, according to the preambles of the respective independent claims. The present invention also relates to a computer program, a machine-readable data carrier for storing the computer program and an electronic control unit, by means of which the method according to the invention can be carried out.
In Produktionsstätten insbesondere von Automobilherstellern oder Maschinenbauern sowie im Bereich der Lagerhaltung bzw. Lagerlogistik bei Großhändlern, Supermärkten oder dergleichen werden vielfach Transportfahrzeuge mit Kleinladungsträgern bzw. Kleinlastträgern (KLT) eingesetzt, um Bauteile oder Waren zu verschiedenen Produktionsstationen oder Lagerstandorten hin transportieren zu können. Die einzelnen Kleinladungsträger können dabei bis zu 25 Kilogramm schwer sein. Vielfach werden auch sogenannte "Routenzüge" zum Transportieren der Kleinladungsträger eingesetzt. Insbesondere die Beladung derartiger Routenzüge erfolgt dabei manuell, was entsprechend personalintensiv ist.In production plants, in particular by car manufacturers or mechanical engineers and in the field of warehousing or warehouse logistics at wholesalers, supermarkets or the like, transport vehicles with small load carriers or small load carriers (KLT) are often used to transport components or goods to various production stations or warehouse sites. The individual small load carriers can be up to 25 kilograms heavy. In many cases, so-called "tugger trains" are also used to transport the small load carriers. In particular, the loading of such tugger trains takes place manually, which is correspondingly labor-intensive.
So gehen aus der
Durch das Verfahren des Robotermoduls entlang der Auslagerungstische wird eine automatische Beladung eines gesamten Routenzugs mit Kleinladungsträgern ermöglicht. Mittels eines mit einer Steuerung des Roboters gekoppelten Kamerasystems werden an dem Routenzug angeordnete Referenzmarkierungen erfasst und basierend darauf der Roboter vor dem Aufschieben des Kleinladungsträgers auf die Aufnahmefläche relativ zum Routenzug positioniert, d.h. der Roboter misst sich mittels eines in die Robotersteuerung integrierten Visionsystems relativ zum Routenzug ein, wozu auch an jedem RoutenzugAnhänger Referenzmarkierungen angebracht sind. Dadurch können eine besonders präzise Positionierung des Robotermoduls bezüglich des Routenzugs und somit eine präzise Beladung des Routenzugs mit den Kleinladungsträgern realisiert werden. Zudem lässt sich dadurch die Packungsdichte der Kleinladungsträger auf dem Routenzug erhöhen.By moving the robot module along the unloading tables, it is possible to automatically load an entire small load carrier route. By means of a camera system coupled to a controller of the robot, reference marks arranged on the tugger train are detected and, based thereupon, the robot is positioned relative to the tugger train before the small load carrier is pushed onto the receiving surface, i. The robot measures itself by means of a vision system integrated in the robot control relative to the tugger train, to which at each tugger trailer reference markings are attached. As a result, a particularly precise positioning of the robot module with respect to the tugger train and thus a precise loading of the tugger train with the small load carriers can be realized. In addition, this makes it possible to increase the packing density of the small load carriers on the tugger train.
Die Erfindung betrifft insbesondere als sog. "Automatic guided vehicles" (AGV) ausgebildete, mit Transportgut, z.B. mit Kleinladungs- bzw. Kleinlastträgern (KLTs), Kisten, Paletten, Waschrahmen, Blechen oder ähnlichen Transportbehältern beladbare bzw. bestückbare Transportfahrzeuge. Solche batteriebetriebenen und damit autonom agierenden Transportfahrzeuge werden bevorzugt zu Routenzügen zusammengestellt.The invention relates in particular to what are known as "automatic guided vehicles" (AGV), with goods to be transported, e.g. with small load carriers or small load carriers (KLTs), boxes, pallets, washing frames, sheets or similar transport containers loadable or equippable transport vehicles. Such battery-powered and thus autonomously acting transport vehicles are preferably put together to form routes.
Gemäß dem Stand der Technik werden diese Transportfahrzeuge bzw. die entsprechenden Routenzüge entweder von Bedienpersonal manuell betrieben, d.h. das Beladen und Entladen von KLTs sowie das Verfahren der Transportfahrzeuge (AGVs) erfolgen meist rein manuell und nicht automatisiert. In Fällen eines bereits automatisierten Betriebs solcher Transportfahrzeuge bzw. entsprechender Routenzüge sind diese mit einem an einem Transportfahrzeug fest angeordneten Manipulator ausgestattet, mittels dessen die KLTs automatisch gehandhabt werden können.According to the prior art, these transport vehicles or the corresponding tugger trains are either manually operated by operating personnel, ie the loading and unloading of KLTs and the method of transport vehicles (AGVs) are usually carried out purely manually and not automatically. In cases of already automated operation of such transport vehicles or corresponding tugger trains, these are equipped with a fixedly mounted on a transport vehicle manipulator, by means of which the KLTs can be handled automatically.
Gegenüber dem Stand der Technik ist ein erfindungsgemäß modifiziertes, als RoutenzugAnhänger bzw. Routenzug-Wagen vorgesehenes AGV insbesondere so ausgebildet, dass es automatisierbar mit einer mobilen Manipulator- bzw. Handhabungsplattform verbindbar ist und dadurch automatisch von dem AGV aufgeladen werden kann. Dadurch kann eine Manipulatorplattform, nachfolgend bezeichnet als Manipulatorvorrichtung, von einem jeweiligen AGV nur vorübergehend mitgeführt werden. Mittels der Manipulatorvorrichtung kann ein genanntes Transportgut einer Manipulation unterzogen werden. Eine entsprechende, z.B. mit Greifern ausgestattete Manipulatorvorrichtung kann somit von dem jeweiligen AGV, je nach einem vorgebbaren Manipulationsbedarf oder je nach aktuell zu handhabender bzw. zu verarbeitender KLTs, automatisch ausgewechselt werden und als robotischer Manipulator flexibel eingesetzt werden.Compared to the prior art, an AGV modified according to the invention, provided as a tugger train or tugger train wagon, is in particular designed so that it can be automatically connected to a mobile manipulator or handling platform and thereby automatically charged by the AGV. As a result, a manipulator platform, referred to below as a manipulator device, can only be temporarily carried by a respective AGV. By means of the manipulator device, a transport item can be subjected to manipulation. A corresponding, e.g. equipped with grippers manipulator device can thus be automatically replaced by the respective AGV, depending on a specifiable manipulation needs or depending on currently handled or to be processed KLTs and used flexibly as a robotic manipulator.
Diese flexible Auswechselbarkeit einer Manipulatorvorrichtung hat den Vorteil, dass gegenüber dem Stand der Technik, bei dem die sehr kostspieligen und relativ schweren Manipulatoren an einem AGV fest angeordnet sind, nicht während der gesamten Betriebsdauer eines AGV nutzlos mit transportiert werden müssen, wodurch insbesondere erhebliche Batterieenergie bzw. Batterieleistung verschwendet wird.This flexible interchangeability of a manipulator device has the advantage that over the prior art, in which the very costly and relatively heavy manipulators are fixedly mounted on an AGV, need not be transported during the entire operating time of an AGV useless, which in particular considerable battery energy or Battery power is wasted.
Darüber hinaus muss nur eine relativ geringe Anzahl an mobilen Manipulatorvorrichtungen vorgehalten werden, wobei diese Vorrichtungen sogar keine eigenen Antriebs- und/oder Navigationsmittel benötigen.Moreover, only a relatively small number of mobile manipulator devices need to be provided, and these devices do not even require their own drive and / or navigation means.
Bei einem hier betroffenen AGV kann die Auswechslung einer Manipulatorvorrichtung mittels einer an dem AGV angeordneten, mechanischen Aufnahmevorrichtung, z.B. mittels eines Transportaufnehmers bzw. einer Transportstütze, erfolgen. Mittels einer solchen Aufnahmevorrichtung kann die Manipulatorvorrichtung vorübergehend (sozusagen "huckepack") auf das AGV aufgeladen und von diesem zu einem aktuellen bzw. nachfolgenden Arbeitsplatz mitgenommen werden.In an AGV affected here, the replacement of a manipulator device may be effected by means of a mechanical pick-up device, e.g. by means of a transport receiver or a transport support. By means of such a receiving device, the manipulator device can temporarily (so to speak "piggyback") charged to the AGV and be taken by this to a current or subsequent workplace.
Bei einem hier betroffenen AGV kann das Auswechseln einer Manipulatorvorrichtung auch mittels einer dynamischen Kopplung (bzw. "Andocken") erfolgen. Dadurch kann das AGV schnell und sicher an eine jeweilige mobile Manipulatorvorrichtung an- und abgekoppelt werden, um die Manipulatorvorrichtung durch das AGV zu dem aktuellen Arbeitsplatz verbringen zu können. Die schnelle An- bzw. Abkopplung kann mittels einer an sich bekannten Magnetkupplung, ektromechanischen Kupplung oder dergleichen realisiert werden, welche mit einer Multisensorausrüstung ausgestatteten 3D-Positionserkennung zusammenarbeitet. Die 3D-Positionserkennung ermöglicht es, die (räumliche) 3D-Position eines sich nähernden AGVs sicher zu erkennen und die Bewegung des AGV bei der dynamischen Kopplung präzise zu steuern.In an AGV affected here, the replacement of a manipulator device can also be done by means of a dynamic coupling (or "docking"). As a result, the AGV can be quickly and safely connected to and disconnected from a respective mobile manipulator device in order to be able to spend the manipulator device through the AGV to the current workstation. The fast coupling or uncoupling can be realized by means of a magnetic coupling known per se, ektromechanischen coupling or the like, which equipped with a multi-sensor equipment 3D position detection cooperates. The 3D position detection makes it possible to reliably detect the (spatial) 3D position of an approaching AGV and to precisely control the movement of the AGV in the dynamic coupling.
Anhand von an der jeweiligen Manipulatorvorrichtung und/oder an dem AGV angeordneten (Referenz-) Markierungen sowie einer an dem AGV oder an der Manipulatorvorrichtung angeordneten, 3D-fähigen Kamera lässt sich der jeweilige Manipulator einer Manipulatorvorrichtung zu einem auf dem KLT-Stapel jeweils oben angeordneten KLT hinführen. Zudem lässt sich eine genannte dynamische Kopplung zwischen einem AGV und einer Manipulatorvorrichtung präzise steuern. Durch diese rein visuelle Steuerung (sog. aus der Robotik bekanntes "visual servoing") kann dieser KLT von dem Manipulator sicher aufgenommen werden, ohne dass es einer vorherigen Kalibrierung bedarf, welche zudem sehr präzise Positionen des Manipulators erfordern würde. Dadurch kann die vorgeschlagene Vorrichtung mittels Linear- und Rotationsachssystemen, welche insbesondere keinen Positionskodierer und/oder eine kabelbasierte Robotik erfordern, sehr kostengünstig realisiert werden. Darüber hinaus wird ermöglicht, bei der Handhabung von KLTs in erheblich vereinfachter Weise die Beladung bzw. Entladung eines Routenzugs mit Kleinladungsträgern zu bewerkstelligen.On the basis of (relative) markings arranged on the respective manipulator device and / or on the AGV and a 3D-capable camera arranged on the AGV or on the manipulator device, the respective manipulator of a manipulator device can be arranged on top of one another on the KLT stack Lead KLT. In addition, a named dynamic coupling between an AGV and a manipulator device can be precisely controlled. As a result of this purely visual control (so-called robotic "visual servoing"), this KLT can be reliably picked up by the manipulator without the need for prior calibration, which would also require very precise manipulator positions. As a result, the proposed device can be realized very cost-effectively by means of linear and rotational axis systems, which in particular do not require a position encoder and / or a cable-based robotics. In addition, it is possible, in the handling of KLTs in a much simplified manner to accomplish the loading or unloading of a route with small load carriers.
Mittels der genannten Kamera werden bevorzugt räumliche Lage- bzw. Positionsdaten erfasst, wobei die Bewegung bzw. Bewegungssteuerung des Manipulators bevorzugt auf den sechs Rotations- und Translationsfreiheitsgraden beruht. Dadurch werden sehr realistische Bewegungsabläufe des Manipulators ermöglicht. Eine solche mehrachsige Bewegung kann mittels aus der industriellen Robotik an sich bekannter, sechsachsiger hydraulischer Antriebe bzw. Manipulatoren realisiert werden.Spatial position or position data are preferably acquired by means of said camera, wherein the movement or movement control of the manipulator is preferably based on the six degrees of freedom of rotation and translation. This allows very realistic movements of the manipulator. Such a multi-axis movement can be realized by means of industrial robotics known per se, six-axis hydraulic drives or manipulators.
Die genannten Markierungen können als drei optisch wirksame Markierungen ausgebildet sein, welche bevorzugt aus einem für Lichtstrahlen reflektionsfähigen Material gebildet sind. Solche Markierungen lassen sich z.B. bei einem als Greifer ausgebildeten Manipulator, d.h. bei einem gabelförmigen, mit Gabelzinken ausgestatteten Greifer, vorteilhaft implementieren.The cited markings can be designed as three optically effective markings, which are preferably formed from a material that is capable of reflection for light rays. Such labels can be e.g. in a manipulator designed as a gripper, i. in a fork-shaped, equipped with forks gripper, implement advantageous.
Die Steuerung eines AGVs beim schnellen Beladen und Entladen von KLTs und/oder beim schnellen Ankoppeln und Abkoppeln von mobilen Manipulatorvorrichtungen kann bei vorhandener 3D-Positionserkennung mittels eines an sich bekannten, kollaborativen "Cloud-Computing"-Ansatzes erfolgen, welcher bevorzugt auf an den AGVs angeordneten, sichtbaren Markierungen beruht. Dadurch können die sehr rechenintensiven Berechnungen bei der 3D-Positionserkennung ausgelagert werden, wodurch die Anforderungen an die Batterieleistung des AGVs, die Baugröße und das Gewicht eines AGVs sowie einer Manipulatorvorrichtung erheblich verringert werden können. Zudem können erforderliche Aktualisierungen ("Updates") eines entsprechend eingerichteten Steuerprogramms vorteilhaft über die Cloud erfolgen.The control of an AGV in the rapid loading and unloading of KLTs and / or the rapid coupling and uncoupling of mobile manipulator devices can be done with existing 3D position detection means of a known, collaborative "cloud computing" approach, which preferably on the AGVs arranged, visible marks based. This allows the very compute-intensive calculations be outsourced in the 3D position detection, whereby the requirements for the battery performance of the AGVs, the size and weight of an AGV and a manipulator device can be significantly reduced. In addition, necessary updates ("updates") of a correspondingly established control program can advantageously be made via the cloud.
Die datentechnische Verbindung zwischen einem AGV und einer Cloud erfolgt z.B. in an sich bekannter Weise mittels einer WLAN-Verbindung. Zur Steuerung wird die Position eines heranfahrenden AGVs mittels der 3D-Positionserkennung und der genannten optischen Markierungen präzise erkannt und die räumliche Bewegung des AGVs in Bezug auf einen aktuellen Arbeitsplatz bzw. in Bezug auf aktuell zu verarbeitende KLTs entsprechend gesteuert. Die entsprechenden, aus der Robotik an sich bekannten SLAM-Navigationsdaten ("SLAM" = Simulation Localization and Mapping) werden dabei in der Cloud berechnet bzw. verarbeitet.The data link between an AGV and a cloud is e.g. in a conventional manner by means of a WLAN connection. For the purpose of control, the position of an approaching AGV is precisely detected by means of the 3D position detection and the said optical markings, and the spatial movement of the AGV with respect to a current workstation or with respect to KLTs currently to be processed is controlled accordingly. The corresponding SLAM navigation data known from robotics ("SLAM" = Simulation Localization and Mapping) are calculated or processed in the cloud.
Bei dem erfindungsgemäßen Verfahren zur automatischen Steuerung insbesondere der Koppelung eines AGVs bzw. eines wenigstens zwei AGVs aufweisenden Routenzugs mit einer Manipulatorvorrichtung mittels einer genannten Kopplungsvorrichtung ist insbesondere vorgesehen, dass von dem 3D-Kamerasystem und anhand der an dem Transportfahrzeug angeordneten Referenzmarkierungen erfasste visuelle Daten zugrundegelegt werden. Dabei kann vorgesehen sein, dass die Datenverarbeitung der erfassten visuellen Daten an externe Rechenmittel, z.B. an eine genannte Cloud, ausgelagert wird.In the method according to the invention for automatically controlling, in particular, the coupling of an AGV or a tugger train having at least two AGVs with a manipulator device by means of a coupling device, it is provided in particular that visual data taken by the 3D camera system and reference marks arranged on the transport vehicle are used , It can be provided that the data processing of the acquired visual data to external computing means, e.g. to a named cloud, is outsourced.
Mit dem vorgeschlagenen Verfahren können somit das An- und Abkoppeln eines AGVs an eine mobile, wenigstens zwei Manipulatoren aufweisende Manipulatorvorrichtung automatisch gesteuert werden. Dadurch kann eine erhebliche Kosteneinsparung im Logistikbereich, insbesondere durch den Entfall nicht wertschöpfender Tätigkeiten bei der Routenzugbeladung, erzielt werden. Darüber hinaus kann ein erheblicher Ergonomievorteil erzielt werden, da eine manuelle Handhabung ("Handling") von Kleinladungsträgern (KLTs) entfällt. Zudem kann dadurch erhebliche Arbeitszeit von Bedienpersonal eingespart werden und für eine Lagerhaltung erforderlicher Puffer- bzw. Reserve-Lagerraum zudem erheblich verringert werden.Thus, with the proposed method, the coupling and uncoupling of an AGV to a mobile manipulator device having at least two manipulators can be controlled automatically. As a result, a significant cost saving in the logistics sector, in particular by the elimination of non-value-added activities in the tugger train loading, can be achieved. In addition, a significant ergonomic advantage can be achieved, as a manual handling ("handling") of small load carriers (KLTs) is eliminated. In addition, considerable labor time can be saved by operating personnel and also significantly reduced for storage required buffer or reserve storage space.
Ferner kann bei dem vorgeschlagenen Verfahren vorgesehen sein, dass die Steuerung einer hier betroffenen Fahrzeugflotte z.B. mittels Simulationstechnik dahingehend optimiert wird, dass für ein gegebenes Anwendungsszenario die optimale Anzahl an AGVs und/oder mobilen Manipulatorvorrichtungen im Vorfeld berechnet wird. Dadurch können vorteilhaft mehrere Manipulatorvorrichtungen so an verschiedenen Standorten positioniert werden, dass ein AGV nur so gering wie möglich mit einer Manipulatorvorrichtung gekoppelt werden muss, um an vorgebbaren Arbeitsplätzen Manipulatorarbeiten durchzuführen und um insbesondere bei weiträumigen Bewegungen des AGVs nur so selten wie möglich eine Manipulatorvorrichtung mitführen zu müssen.Furthermore, it can be provided in the proposed method that the control of a vehicle fleet affected here, for example by means of simulation technology is optimized so that for a given application scenario, the optimal number of AGVs and / or mobile manipulator devices is calculated in advance. As a result, advantageously, a plurality of manipulator devices can be positioned at different locations such that an AGV must be coupled with a manipulator device as little as possible in order to perform manipulator work at predeterminable workstations and to carry a manipulator device only as seldom as possible, especially in the case of long-range movements of the AGV have to.
Die bei der bevorzugt mittels Cloud-Computing berechneten bzw. simulierten Bewegungspfade der AGVs bzw. der entsprechenden, für die Bewegungssteuerung erforderlichen SLAM-Navigationsdaten können dann mittels WLAN in das jeweilige AGV bzw. die Manipulatorvorrichtung heruntergeladen werden. Weiterhin kann vorgesehen sein, dass diese SLAM-Daten, für ein bestimmtes AGV und basierend auf von der 3D-Positionserkennung erfassten KLTs, im laufenden Betrieb dynamisch aktualisiert werden. Dabei kann zudem vorgesehen sein, dass die SLAM-Daten eines AGVs mit entsprechenden SLAM-Daten anderer AGVs verglichen und/oder zusammengeführt werden. Durch einen solchen kollaborativen Ansatz kann die Zuverlässigkeit bzw. die Präzision einer gesamten Fahrzeugflotte erheblich verbessert werden.The motion paths of the AGVs or the corresponding SLAM navigation data required for the motion control, which are preferably calculated or simulated by means of cloud computing, can then be downloaded by means of WLAN into the respective AGV or the manipulator device. Furthermore, it can be provided that these SLAM data, for a specific AGV and based on KLTs detected by the 3D position detection, are updated dynamically during operation. It can also be provided that the SLAM data of an AGVs are compared with corresponding SLAM data of other AGVs and / or merged. Such a collaborative approach can significantly improve the reliability or precision of an entire vehicle fleet.
Das vorgeschlagene Verfahren und die Einrichtung bzw. Vorrichtung können insbesondere in Produktionsstätten, z.B. in der Automobilproduktion bei der zeitkritischen Zuführung von Bauteilen zu Montagefließbändern oder bei der Lagerhaltung beim Transport und der Handhabung von genannten KLTs, z.B. Transportbehältnissen, Paletten, verzinkten Transportblechen ("tinplates") oder bei in Warenhäusern oder Supermärkten eingesetzten Stapel-Rollenfahrzeugen, zur Anwendung kommen. Auch ist eine Anwendung bei der sogenannten "Just-in-time"-Fließbandbestückung in Logistikzentren, Güterbahnhöfen, Flughäfen, oder dergleichen möglich.The proposed method and apparatus can be used in particular in production facilities, e.g. in the automotive production in the time-critical supply of components to assembly lines or in the storage during transport and handling of said KLTs, e.g. Transport containers, pallets, galvanized transport plates ("tinplates") or used in department stores or supermarkets stacker roller vehicles, are used. Also, an application in the so-called "just-in-time" -Fließbandbestückung in logistics centers, freight yards, airports, or the like is possible.
Das ebenfalls vorgeschlagene Computerprogramm ist eingerichtet, jeden Schritt des Verfahrens durchzuführen, insbesondere wenn es auf einem Rechengerät oder einem Steuergerät abläuft. Es ermöglicht die Implementierung des erfindungsgemäßen Verfahrens auf einem elektronischen Steuergerät, ohne an diesem bauliche Veränderungen vornehmen zu müssen. Hierzu ist der maschinenlesbare Datenträger vorgesehen, auf welchem das erfindungsgemäße Computerprogramm gespeichert ist. Durch Aufspielen des erfindungsgemäßen Computerprogramms auf ein elektronisches Steuergerät wird das erfindungsgemäße elektronische Steuergerät erhalten, welches eingerichtet ist, um ein als AGV ausgebildetes, bevorzugt mit Kleinladungsträgern (KLTs) ausgestattetes Transportfahrzeug bzw. einen aus wenigstens zwei AGVs gebildeten Routenzug mittels des erfindungsgemäßen Verfahrens zu steuern.The likewise proposed computer program is set up to carry out each step of the method, in particular if it runs on a computing device or a control device. It allows the implementation of the method according to the invention on an electronic control unit, without having to make structural changes to this. For this purpose, the machine-readable data carrier is provided on which the computer program according to the invention is stored. By loading the computer program according to the invention onto an electronic control unit, the electronic control unit according to the invention is obtained, which is set up to have a AGV designed, preferably with small load carriers (KLTs) Control transport vehicle or a tugger train formed from at least two AGVs by means of the method according to the invention.
Weitere Vorteile und Ausgestaltungen des vorgeschlagenen Verfahrens und der Vorrichtung ergeben sich aus der Beschreibung und den beiliegenden Zeichnungen.Further advantages and embodiments of the proposed method and the device will become apparent from the description and the accompanying drawings.
Es versteht sich, dass die voranstehend genannten und die nachstehend noch zu erläuternden Merkmale nicht nur in der jeweiligen angegebenen Kombination, sondern auch in anderen Kombinationen oder in Alleinstellung verwendbar sind, ohne den Rahmen der Erfindung zu verlassen.It is understood that the features mentioned above and those yet to be explained below can be used not only in the respective specified combination but also in other combinations or in isolation without departing from the scope of the invention.
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Fig. 1 zeigt ein Ausführungsbeispiel der erfindungsgemäßen Einrichtung zum Betreiben von autonom agierenden, mit Kleinladungsträgern (KLTs) beladbaren Transportfahrzeugen, und zwar am Beispiel einer/eines aus solchen Transportfahrzeugen gebildeten Fahrzeugflotte bzw. Routenzuges.Fig. 1 shows an embodiment of the device according to the invention for operating autonomously acting, with small load carriers (KLTs) loadable transport vehicles, namely the example of / a vehicle fleet formed from such transport vehicles or tugger train. -
Fig. 2 zeigt ein Ausführungsbeispiel der erfindungsgemäßen mobilen Manipulatorvorrichtung.Fig. 2 shows an embodiment of the mobile manipulator device according to the invention. -
Fig. 3 zeigt ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens zum Betreiben einer inFig. 1 gezeigten Einrichtung bzw. einer inFig. 2 gezeigten Manipulatorvorrichtung.Fig. 3 shows an embodiment of the inventive method for operating a inFig. 1 shown device or inFig. 2 shown manipulator device.
Die in
Es ist anzumerken, dass die an dem AGV 100 angeordnete Transportstütze 105 einem Ausführungsbeispiel einer in
Die in
Bei dem in
Die in
Die Manipulatorvorrichtung 205 umfasst ferner eine Hubvorrichtung bzw. -anordnung 245, um den Manipulator 225, wie durch den Doppelpfeil angedeutet, an die jeweilige Höhe des Transportbehältnisses 230 anpassen bzw. anheben zu können. In dem vorliegenden Ausführungsbeispiel sind an der Unterseite der Plattform 210 zudem teleskopartig ausfahrbare Füße 250 angeordnet, mittels derer die Plattform 210 während des Betriebs bezüglich ihrer Standfestigkeit stabilisiert werden kann.The
Darüber hinaus ist an der Manipulatorvorrichtung 205 ein 3D-Kamerasystem 255, z.B. mit einer an sich bekannten RGB-D-Kamera 260 zur Bereitstellung eines Farb- und Tiefeninformationen aufweisenden Bildes (z.B. das von den Firmen Microsoft und PrimeSense gemeinsam entwickelte "KINECT"-Kamerasystem), angeordnet. Die genaue Position der Kamera 255 kann dabei mittels der gezeigten beiden Rotationsachsen 262, 263 als von der jeweiligen Handhabungssituation abhängig vorgegeben werden. Die Kamera 255 ermöglicht die präzise räumliche Erfassung von zu handhabbaren, in
Die Verarbeitung der mittels des 3D-Kamerasystems 255 erfassten, visuellen Daten erfolgt in dem Ausführungsbeispiel durch Auslagern dieser Daten in eine externe "Cloud" sowie in an sich bekannter Weise durch entsprechendes "Cloud-Computing". Zu diesem Zweck umfasst die gezeigte Manipulatorvorrichtung eine herkömmliche WLAN-Kommunikationseinrichtung 275 zum drahtlosen Austauschen der genannten Daten. Diese Auslagerung der Daten hat den Vorteil, dass die Manipulatorvorrichtung keine erforderlichen Rechnerresourcen aufweisen muss, wodurch erhebliche Batterieenergie eingespart werden kann sowie die Baugröße und das Gewicht einer Manipulatorvorrichtung erheblich verringert werden können.The processing of the visual data recorded by means of the
In
Bei der in
Nach erfolgter Auswertung der visuellen Daten werden die Ergebnisse der Auswertung, d.h. entsprechende Positionsdaten, an die Manipulatorvorrichtung und das AGV zurück übermittelt 320. Auf der Grundlage dieser Positionsdaten erfolgt dann die Koppelung 325 der Manipulatorvorrichtung mit dem AGV. Anschließend wird wieder an den Anfang der Routine zurückgesprungen 330.After evaluation of the visual data, the results of the evaluation, i. corresponding position data, transmitted to the manipulator device and the AGV back 320. On the basis of this position data is then the
Das anhand von
Es ist ferner anzumerken, dass ein jeweiliges AGV eine mit passiven Rollen und mit teleskopartigen Füßen ausgestattete, mobile Manipulatorvorrichtung hinter sich herziehen und gleichzeitig ein oder mehrere KLTs transportieren kann. Alternativ kann vorgesehen sein, dass ein AGV eine mobile Manipulatorvorrichtung in der beschriebenen Weise (huckepack) auf sich auflädt und diese gleichzeitig mit einem oder mehreren KLTs transportiert. Auch kann vorgesehen sein, dass eine mobile Manipulatorvorrichtung, anstatt auf genannten Rollen, schienengebunden bewegt wird. Anstelle eines batteriebetriebenen AGVs können auch mit Kabeln elektrisch versorgte AGVs vorgesehen sein.It should also be noted that a respective AGV can drag a mobile manipulator device equipped with passive rollers and telescopic feet behind it and simultaneously transport one or more KLTs. Alternatively, it can be provided that an AGV charges a mobile manipulator device in the manner described (piggybacked) and simultaneously with one or more KLTs transported. It can also be provided that a mobile manipulator device, rather than on said rollers, is moved by rail. Instead of a battery-powered AGV, it is also possible to provide AGVs which are supplied with cables and have electric cables.
Zudem können mehrere Kameras zur 3D-Erfassung bzw. zur Berechnung der relativen Position eines AGVs in Bezug auf eine Manipulatorvorrichtung sowie der relativen Position eines Manipulators bzw. Greifers in Bezug auf in den KLTs angeordnete Bauteile angeordnet sein. Mittels solcher Kameras kann auch die relative Position von KLTs oder Bauteilen erfasst bzw. berechnet werden, welche z.B. auf an einem Arbeitsplatz vorgesehenen Rollenbändern angeordnet sind.In addition, several cameras for 3D detection or for calculating the relative position of an AGV with respect to a manipulator device and the relative position of a manipulator or gripper with respect to arranged in the KLTs components can be arranged. By means of such cameras it is also possible to detect or calculate the relative position of KLTs or components, which are e.g. are arranged on provided at a workplace roller belts.
Das beschriebene Verfahren kann in Form eines Steuerprogramms für ein elektronisches Steuergerät zur Steuerung einer Brennkraftmaschine oder in Form einer oder mehrerer entsprechender elektronischer Steuereinheiten (ECUs) realisiert werden.The method described can be implemented in the form of a control program for an electronic control unit for controlling an internal combustion engine or in the form of one or more corresponding electronic control units (ECUs).
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DE102017207555A1 (en) | 2018-11-08 |
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